Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction
Name
avoidance2019huber_billard_slotine.pdf
Description
Accepted version
Size
4.37 MB
Format
Adobe PDF
Checksum (MD5)
80fb17931160616659bc8779807a071c
Author(s)
Huber, Lukas
Billard, Aude
Slotine, Jean-Jacques
Date Issued
2019
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
© 2016 IEEE. This letter presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prove impenetrability of the obstacles hull and asymptotic stability at a final goal location, using contraction theory. We validate the approach in a simulated co-worker industrial environment, with one KUKA arm engaged in a pick and place grocery task, avoiding in real-time humans moving in its vicinity and in simulation to drive wheel-chair robot in the presence of moving obstacles.
MIT Department
Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/LRA.2019.2893676
